Intransitive sense, "afford aid or assistance," is from early 13c. Recorded as a cry of distress from late 14c. Sense of "serve someone with food at table" (1680s) is translated from French servir "to help, stead, avail," and led to helping "portion of food." Help yourself as an invitation, in reference to food, etc., is from 1894. Related: Helped (c. 1300). The Middle English past participle holpen survives in biblical and U.S. dialectal use.

Old English help (m.), helpe (f.) "assistance, succor," from help (v.). Most Germanic languages also have the noun form, such as Old Norse hjalp, Swedish hjälp, Old Frisian helpe, Dutch hulp, Old High German helfa, German Hilfe. Use of help as euphemism for "servant" is American English, 1640s, originally in New England.

A domestic servant of American birth, and without negro blood in his or her veins ... is not a servant, but a 'help.' 'Help wanted,' is the common heading of advertisements in the North, when servants are required. [Chas. Mackay, "Life and Liberty in America," 1859].

Though help also meant "assistant, helper, supporter" in Middle English (c. 1200).